Robot wrist

US4690012A · kind A · utility

Assignee

• Asea Aktiebolag · SE

Inventors

• Hakan Dahlquist · Hässelby, SE
• Herbert Kaufmann · Wolfurt, AT

Key dates

• Filing date: May 7, 1986
• Grant date: Sep 1, 1987
• Expiry date: May 7, 2006

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10T74/20335
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A wrist for an industrial robot with a large orientation capacity comprising first, second , third and fourth turnable wrist parts arranged in series with each other. The first wrist part is rotatable about a first axis. The second wrist part is journalled in the first wrist part and is rotatable about a second axis which intersects the first axis. The third wrist part is journalled in the second wrist part and is rotatable about a third axis which intersects the second axis. A tool attachment is rotatably journalled in the third wrist part about a fourth axis which intersects the third axis.